WO2021033513A1 - Dispositif de nettoyage à déplacement autonome, procédé de commande de dispositif de nettoyage à déplacement autonome et programme - Google Patents

Dispositif de nettoyage à déplacement autonome, procédé de commande de dispositif de nettoyage à déplacement autonome et programme Download PDF

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Publication number
WO2021033513A1
WO2021033513A1 PCT/JP2020/029262 JP2020029262W WO2021033513A1 WO 2021033513 A1 WO2021033513 A1 WO 2021033513A1 JP 2020029262 W JP2020029262 W JP 2020029262W WO 2021033513 A1 WO2021033513 A1 WO 2021033513A1
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Prior art keywords
vacuum cleaner
carpet
autonomous traveling
information
cleaning
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PCT/JP2020/029262
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English (en)
Japanese (ja)
Inventor
裕之 本山
津坂　優子
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パナソニックＩｐマネジメント株式会社
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Publication of WO2021033513A1 publication Critical patent/WO2021033513A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means

Definitions

  • the present invention relates to an autonomous traveling type vacuum cleaner that autonomously travels and cleans a predetermined space, a control method of the autonomous traveling type vacuum cleaner, and a program.
  • the autonomous traveling type vacuum cleaner disclosed in Patent Document 1 travels along the tatami mats when traveling on the tatami mats. As a result, the influence of the autonomous traveling vacuum cleaner on the tatami mats can be reduced.
  • the autonomous traveling type vacuum cleaner travels in various directions to clean the carpet, the fur of the carpet (hereinafter, also referred to as carpet grain) may not be aligned and may be disturbed. As a result, the cleaning performance (in other words, the appearance of the carpet) deteriorates.
  • the present invention provides an autonomous traveling type vacuum cleaner that can be cleaned so that the carpets are evenly aligned.
  • One aspect of the present invention is an autonomous traveling type vacuum cleaner that autonomously travels and cleans a predetermined space.
  • the autonomous traveling type vacuum cleaner is arranged in a main body having a suction port on the bottom surface, a suction part which is arranged in the main body and sucks dust through the suction port, and is arranged in the main body to run the autonomous traveling vacuum cleaner. It is equipped with a drive unit and a cleaning unit that drives a brush for collecting dust. Further, the autonomous traveling type vacuum cleaner detects the self-position of the autonomous traveling type vacuum cleaner in the predetermined space and the cleaning information acquisition unit which acquires the cleaning information which is the information about the carpet grain of the carpet arranged in the predetermined space.
  • the autonomous traveling type vacuum cleaner controls the suction unit, the driving unit, and the cleaning unit based on the cleaning information, the self-position, and the map information, and travels in a predetermined space to the autonomous traveling type vacuum cleaner. It is provided with a control unit for cleaning.
  • one aspect of the present invention is a control method of an autonomous traveling type vacuum cleaner that autonomously travels and cleans a predetermined space.
  • the control method of the autonomous traveling vacuum cleaner is a cleaning information acquisition step of acquiring cleaning information which is information about the carpet eyes of the carpet arranged in a predetermined space, and a self-position detection of detecting the self-position of the autonomous traveling vacuum cleaner. Including steps.
  • the control method of the autonomous traveling vacuum cleaner is based on a map information acquisition step of acquiring map information indicating a map of a predetermined space, cleaning information, self-position, and map information. Includes a control step that allows the vehicle to travel in a predetermined space for cleaning.
  • one aspect of the present invention is a program for causing a computer to execute a control method of an autonomous traveling type vacuum cleaner that autonomously travels in a predetermined space.
  • the program includes a cleaning information acquisition step for acquiring cleaning information which is information about the carpet grain of the carpet arranged in a predetermined space, a self-position detection step for detecting the self-position of the autonomous traveling vacuum cleaner, and a self-position detection step for the predetermined space.
  • Acquire map information indicating a map Have a computer execute a map information acquisition step.
  • the program causes the computer to perform a control step of running and cleaning the autonomous vacuum cleaner based on the cleaning information, the self-position, and the map information.
  • the present invention may be realized as a non-temporary recording medium such as a CD-ROM that can be read by a computer that records the above program. Further, the present invention may be realized as information, data or a signal indicating the program. Then, those programs, information, data and signals may be distributed via a communication network such as the Internet.
  • an autonomous traveling vacuum cleaner that can be cleaned so that the carpets are aligned, a control method thereof, and a program that causes a computer to execute the control method.
  • FIG. 1 is a perspective view showing the appearance of the autonomous traveling type vacuum cleaner according to the present embodiment as viewed from the side.
  • FIG. 2 is a perspective view showing the appearance of the autonomous traveling vacuum cleaner as viewed from the front side.
  • FIG. 3 is a bottom view showing the appearance of the autonomous traveling type vacuum cleaner.
  • FIG. 4 is a block diagram showing a characteristic functional configuration of the autonomous traveling type vacuum cleaner.
  • FIG. 5 is a diagram showing an example of a map held by the autonomous traveling type vacuum cleaner.
  • FIG. 6 is a diagram showing an example of cleaning information of the autonomous traveling type vacuum cleaner.
  • FIG. 7 is a flowchart showing a process executed by the autonomous traveling type vacuum cleaner.
  • FIG. 8 is a diagram showing an example of a map corresponding to cleaning information of the autonomous traveling type vacuum cleaner.
  • FIG. 9 is a diagram showing a first example of a cleaning pattern in a region where the carpets of the autonomous traveling type vacuum cleaner are not aligned.
  • FIG. 10 is a diagram showing a first example of a cleaning pattern in a region where the carpets of the autonomous traveling type vacuum cleaner are aligned.
  • FIG. 11 is a diagram showing a second example of a cleaning pattern in a region where the carpets of the autonomous traveling type vacuum cleaner are aligned.
  • FIG. 12 is a diagram showing a third example of a cleaning pattern in the area where the autonomous traveling vacuum cleaner aligns the carpet mesh.
  • each figure is a schematic view and is not necessarily exactly illustrated. Further, in each figure, substantially the same configuration may be designated by the same reference numerals, and duplicate description may be omitted or simplified.
  • a substantially triangle not only means that it is a perfect triangle, but it is also a substantially triangle. That is, the substantially triangle also means that, for example, a triangle with rounded corners is also included. The same applies to expressions using other "abbreviations”.
  • the case where the autonomous traveling type vacuum cleaner that runs and cleans on the floor of a predetermined space is viewed from the vertically upper side is regarded as the top view
  • the case where the autonomous traveling type vacuum cleaner is viewed from the vertically lower side is regarded as the bottom view.
  • FIG. 1 is a side view showing the appearance of the autonomous traveling type vacuum cleaner 100 according to the present embodiment.
  • FIG. 2 is a front view showing the appearance of the autonomous traveling type vacuum cleaner 100.
  • FIG. 3 is a bottom view showing the appearance of the autonomous traveling type vacuum cleaner 100.
  • the autonomous traveling type vacuum cleaner 100 of the present embodiment is exemplified by an autonomous traveling type vacuum cleaner that autonomously travels and cleans a predetermined space.
  • the autonomous traveling type vacuum cleaner 100 runs around while taking an image in a predetermined space by using a camera (not shown) or the like. At this time, the autonomous traveling type vacuum cleaner 100 generates map information (data) showing a map in a predetermined space (for example, the map 300 shown in FIG. 5).
  • the autonomous traveling type vacuum cleaner 100 calculates a traveling route to travel when cleaning a predetermined space based on the generated map information.
  • the autonomous traveling type vacuum cleaner 100 travels in a predetermined space and cleans according to the calculated traveling route.
  • the autonomous traveling type vacuum cleaner 100 observes the state in a predetermined space by using, for example, a camera and a sensor such as a cliff sensor. As a result, the autonomous traveling type vacuum cleaner 100 autonomously determines whether or not to avoid an object (obstacle) existing on the floor. Then, based on the determination result, the autonomous traveling type vacuum cleaner 100 departs from the calculated traveling route when there is an obstacle to be avoided, and travels and cleans while avoiding the obstacle.
  • the autonomous traveling type vacuum cleaner 100 first generates map information of a predetermined space to be cleaned by, for example, SLAM (Simultaneus Localization and Mapping). Then, the autonomous traveling type vacuum cleaner 100 estimates the self-position of the autonomous traveling type vacuum cleaner 100 on the map shown in the generated map information.
  • SLAM Simultaneus Localization and Mapping
  • the autonomous traveling type vacuum cleaner 100 of the present embodiment includes, for example, a main body 10, two wheels 20, two side brushes 30, and a laser range finder 40. And a main brush 50 and the like.
  • the main body 10 constitutes a housing for accommodating each component included in the autonomous traveling vacuum cleaner 100.
  • the main body 10 has a substantially circular shape when viewed from above.
  • the shape of the main body 10 is not particularly limited, and may be, for example, a substantially rectangular shape or a substantially triangular shape.
  • the main body portion 10 has a suction port 11 formed by opening on the bottom surface.
  • the two wheels 20 are wheels for running the autonomous traveling type vacuum cleaner 100.
  • the side brush 30 is provided on the lower surface of the main body 10 and is a brush for cleaning the floor (hereinafter, also simply referred to as the floor) in a predetermined space.
  • the autonomous traveling type vacuum cleaner 100 includes two side brushes 30.
  • the number of side brushes 30 may be one or three or more, and is not particularly limited.
  • the laser range finder 40 is a sensor for measuring the distance between the autonomous traveling vacuum cleaner 100 and an object, a wall surface, or the like in a predetermined space.
  • the laser range finder 40 is exemplified by, for example, a so-called LIDAR (Light Detection and Ringing).
  • LIDAR Light Detection and Ringing
  • the laser range finder 40 is provided, for example, on the upper part of the main body 10.
  • the main brush 50 is a brush that is arranged at the suction port 11 on the lower surface of the main body 10 to suck dust on the floor.
  • the autonomous traveling type vacuum cleaner 100 of the present embodiment is configured.
  • FIG. 4 is a block diagram showing a characteristic functional configuration of the autonomous traveling type vacuum cleaner 100 according to the present embodiment.
  • the autonomous traveling type vacuum cleaner 100 has a sensor data acquisition unit 110, a map information acquisition unit 120, a cleaning information acquisition unit 130, a self-position detection unit 140, and a plan generation unit as functional configurations. It includes 150, a control unit 160, a storage unit 170, a suction unit 180, a drive unit 190, a cleaning unit 200, and the like.
  • the sensor data acquisition unit 110 is a processing unit that acquires sensor data detected by various sensors included in the autonomous traveling vacuum cleaner 100 such as the laser range finder 40.
  • the sensor data acquisition unit 110 is connected to various sensors via a control line or the like, and is configured to be able to acquire sensor data.
  • the autonomous traveling vacuum cleaner 100 includes, for example, a camera, a cliff sensor, a slip sensor for detecting the movement of the autonomous traveling vacuum cleaner 100, an ultrasonic sensor, and the like. You may.
  • the camera images the surroundings of the autonomous traveling vacuum cleaner 100.
  • the cliff sensor measures the distance from the position where the autonomous traveling vacuum cleaner 100 is installed to the floor surface.
  • the slip sensor detects the movement of the autonomous traveling type vacuum cleaner 100.
  • the ultrasonic sensor detects the distance from the autonomous traveling vacuum cleaner 100 to an arbitrary object.
  • the autonomous traveling type vacuum cleaner 100 may include, for example, a sensor that detects odometry information used for calculating the direction in which the autonomous traveling type vacuum cleaner 100 travels.
  • the map information acquisition unit 120 is a processing unit that acquires map information indicating a map of a predetermined space.
  • the map information acquisition unit 120 generates map information by the SLAM, for example.
  • FIG. 5 is a diagram showing an example of the map 300 indicated by the map information held by the autonomous traveling type vacuum cleaner 100.
  • the map 300 (specifically, map information) includes information indicating a boundary portion 301, a travelable area 302, a non-travelable area 303, and the like.
  • the travelable area 302 is information indicating a space in which the autonomous travel type vacuum cleaner 100 can travel.
  • the travelable area 302 is information indicating, for example, a place where the floor is located in a predetermined space.
  • the non-travelable area 303 is information indicating a space in which the autonomous traveling type vacuum cleaner 100 cannot travel.
  • the non-travelable area 303 is information indicating, for example, a place where a wall or a pillar of a building is located in a predetermined space.
  • the boundary portion 301 is information indicating the position of the boundary between the travelable area 302 and the non-travelable area 303.
  • the boundary portion 301 is information indicating, for example, a place where the wall surface of the building or the like is located, that is, a place where the autonomous traveling type vacuum cleaner 100 cannot travel.
  • the map information acquisition unit 120 is not limited to the method of acquiring by the above SLAM, and may acquire map information from an external communication device or the like.
  • the map information acquisition unit 120 includes, for example, a communication interface such as an antenna or a communication circuit for communicating with an external communication device or the like.
  • the map information may be stored in the storage unit 170 in advance, for example. In this case, the map information acquisition unit 120 acquires map information from the stored storage unit 170.
  • the cleaning information acquisition unit 130 shown in FIG. 4 is a processing unit that acquires cleaning information 171 which is information on the carpet grain of the carpet arranged in a predetermined space.
  • the cleaning information 171 is information about carpets arranged in a predetermined space.
  • the cleaning information 171 is information on carpets arranged in a predetermined space that need to have the same carpet mesh (direction of carpet hair).
  • the autonomous traveling type vacuum cleaner 100 of the present embodiment cleans and travels (hereinafter, also simply referred to as cleaning traveling) so as to align the directions of the carpet eyes with respect to the carpet that needs to align the directions of the carpet eyes. )I do.
  • the cleaning information 171 includes, for example, area information regarding an area where carpets need to be aligned in a predetermined space, and orientation information indicating the direction of the carpets.
  • FIG. 6 is a diagram showing an example of cleaning information 171.
  • the cleaning information 171 includes, for example, ID information 172, area information 173, orientation information 174, and the like.
  • ID information 172 is information for distinguishing the carpet area of a predetermined space. At this time, when a plurality of carpet areas exist in a predetermined space, different ID information 172 is associated with each carpet area in advance.
  • Orientation information 174 is information indicating the orientation of the carpet in the carpet area.
  • cleaning information 171 can be obtained.
  • the self-position detection unit 140 shown in FIG. 4 is a processing unit that detects (calculates) the self-position of the autonomous traveling type vacuum cleaner 100 in a predetermined space.
  • the self-position detection unit 140 uses the SLAM to create a predetermined space (for example, based on sensor data obtained from various sensors included in the autonomous traveling type vacuum cleaner 100, data obtained from the laser rangefinder 40, map information, and the like. Specifically, the self-position in the map indicated by the map information) is calculated.
  • the plan generation unit 150 shown in FIG. 4 sucks based on the cleaning information 171 acquired by the cleaning information acquisition unit 130, the self-position detected by the self-position detection unit 140, and the map information acquired by the map information acquisition unit 120.
  • the planning information is information indicating, for example, the traveling path of the autonomous traveling type vacuum cleaner 100 and the cleaning mode such as the strength of the suction motor 181.
  • the planning information is information indicating how the control unit 160 drives and controls the suction unit 180, the drive unit 190, and the cleaning unit 200, that is, the control mode.
  • the plan information generated by the plan generation unit 150 is not particularly limited to the above information.
  • it may include information such as an area to be cleaned or an area where cleaning is prohibited set by the user.
  • the cleaning information 171 includes, for example, area information 173 regarding the carpet area where the carpet is located in a predetermined space, orientation information 174 indicating the direction of the carpet eyes, and the like.
  • the plan generation unit 150 shown in FIG. 4 determines whether or not the direction of the carpet stitch and the direction in which the autonomous traveling vacuum cleaner 100 advances in the carpet region of the autonomous traveling vacuum cleaner 100 match. .. Then, when it is determined that they match, the plan generation unit 150 generates the plan information for causing the suction unit 180 to perform the suction operation. On the other hand, if it is determined that they do not match, the plan generation unit 150 generates plan information that does not cause the suction unit 180 to perform the suction operation.
  • plan generation unit 150 generates plan information for causing the autonomous traveling type vacuum cleaner 100 to make a bow-shaped traveling when the autonomous traveling type vacuum cleaner 100 travels other than the carpet area.
  • the plan generation unit 150 when the autonomous traveling type vacuum cleaner 100 travels on the carpet area, the plan generation unit 150 generates the planning information for causing the autonomous traveling type vacuum cleaner 100 to perform comb-shaped traveling.
  • plan generation unit 150 generates plan information for running the autonomous traveling type vacuum cleaner 100 only in the direction of the carpet in the carpet area.
  • the plan generation unit 150 determines the direction of the carpet grain and the reverse route traveling in the opposite direction in the carpet area. Then, the plan generation unit 150 generates plan information for causing the autonomous traveling type vacuum cleaner 100 to clean the carpet area based on the following (i) and (ii). Specifically, in (i), the autonomous traveling type vacuum cleaner 100 travels on a reverse route and travels on a portion other than the reverse route in the carpet region in the same direction as the direction of the carpet. , Let me clean. Then, the plan information for cleaning is generated by traveling a place other than the reverse route in the carpet area. After that, in (ii), the autonomous traveling type vacuum cleaner 100 is made to travel in the same direction as the direction of the carpet mesh on the reverse route to generate the planning information for cleaning.
  • plan generation unit 150 causes the autonomous traveling type vacuum cleaner 100 to travel in the entire predetermined space to generate planning information for cleaning. After that, the plan generation unit 150 causes the autonomous traveling type vacuum cleaner 100 to travel in the carpet area based on the cleaning information 171 to generate the plan information to be cleaned.
  • the control unit 160 shown in FIG. 4 is a processing unit that causes the autonomous traveling type vacuum cleaner 100 to travel in a predetermined space and clean it. Specifically, the control unit 160 controls the suction unit 180, the drive unit 190, and the cleaning unit 200 based on the cleaning information 171 described above, the self-position, and the map information. As a result, the control unit 160 causes the autonomous traveling type vacuum cleaner 100 to travel in a predetermined space and clean it.
  • control unit 160 is a processing unit that causes the autonomous traveling type vacuum cleaner 100 to perform cleaning traveling in a predetermined space based on the planning information generated by the planning generation unit 150. Specifically, the control unit 160 controls the suction unit 180, the drive unit 190, and the cleaning unit 200 based on the plan information generated by the plan generation unit 150, and determines the autonomous traveling type vacuum cleaner 100. Let the space run and clean.
  • the sensor data acquisition unit 110, the map information acquisition unit 120, the cleaning information acquisition unit 130, the self-position detection unit 140, the program generation unit 150, and various processing units of the control unit 160 shown in FIG. 4 are, for example, , It is realized from a control program for executing the above-mentioned processing, a CPU (Central Processing Unit) for executing the control program, and the like.
  • the sensor data acquisition unit 110, the map information acquisition unit 120, the cleaning information acquisition unit 130, the self-position detection unit 140, the plan generation unit 150, and the control unit 160 have one or more various processing units. It may be realized by a plurality of CPUs.
  • the storage unit 170 shown in FIG. 4 is a memory that stores the cleaning information 171.
  • the storage unit 170 is realized by, for example, an HDD (Hard Disk Drive), a flash memory, or the like. Further, the storage unit 170 stores, for example, control programs executed by various processing units such as the control unit 160.
  • the suction unit 180 shown in FIG. 4 is a mechanism that is arranged in the main body unit 10 and sucks dust through the suction port 11. Specifically, the suction unit 180 sucks the floor surface of a predetermined space and sucks dust and the like on the floor surface.
  • the suction unit 180 includes, for example, a suction motor 181.
  • the suction motor 181 is a motor that generates a suction wind that sucks dust on the floor surface.
  • the suction motor 181 is, for example, a motor connected to a fan to rotate the fan.
  • the drive unit 190 shown in FIG. 4 is a mechanism arranged in the main body unit 10 to drive the autonomous traveling type vacuum cleaner 100.
  • the drive unit 190 includes, for example, a wheel motor 191.
  • the wheel motor 191 is a motor that is connected to the wheel 20 and rotates the wheel 20. That is, the autonomous traveling type vacuum cleaner 100 of the present embodiment independently controls the rotation of the two wheels 20 included in the drive unit 190. As a result, the autonomous traveling type vacuum cleaner 100 can freely travel, such as going straight, backward, rotating counterclockwise, and rotating clockwise.
  • the autonomous traveling type vacuum cleaner 100 may further include wheels (training wheels) that do not rotate by the wheel motor 191.
  • the cleaning unit 200 shown in FIG. 4 is a mechanism for cleaning the floor surface. Specifically, it is a mechanism for driving a brush (for example, the main brush 50) that collects dust and the like.
  • the cleaning unit 200 includes, for example, a brush motor 201.
  • the brush motor 201 is a motor that drives a brush such as the main brush 50.
  • the autonomous traveling type vacuum cleaner 100 of the present embodiment has the above-mentioned functional configuration.
  • FIG. 7 is a flowchart showing a processing procedure of the autonomous traveling type vacuum cleaner 100 according to the present embodiment.
  • FIG. 8 is a diagram showing an example of the map 300 corresponding to the cleaning information 171. Specifically, FIG. 8 shows the carpet area 401 shown in the XY coordinates and the cleaning information 171 on the map 300 held by the autonomous traveling vacuum cleaner 100 shown in FIG. 5 (for example, stored in the storage unit 170). Is a diagram schematically showing.
  • the autonomous traveling type vacuum cleaner 100 first starts cleaning from an arbitrary position on the map 300.
  • the position of the autonomous traveling vacuum cleaner 100 is represented by (X, Y) coordinates represented by pixel values or distances when the upper left corner of the map 300 is the origin of the coordinates, for example, as shown in FIG.
  • X, Y The position of the autonomous traveling vacuum cleaner 100 is represented by (X, Y) coordinates represented by pixel values or distances when the upper left corner of the map 300 is the origin of the coordinates, for example, as shown in FIG.
  • the autonomous traveling type vacuum cleaner 100 sequentially cleans a predetermined space for each area from the cleaning start position set by the user.
  • the autonomous traveling type vacuum cleaner 100 travels over the entire cleaning area (here, the travelable area 302 shown in FIG. 8) for cleaning.
  • the cleaning information acquisition unit 130 acquires the cleaning information 171 stored in the storage unit 170 in advance and the map information (step S101).
  • map information may be acquired via communication from an external communication device. Further, the map information may be generated by the autonomous traveling type vacuum cleaner 100 by the mounted SLAM.
  • step S101 the plan generation unit 150 calculates the travel route of the autonomous traveling type vacuum cleaner 100 based on the acquired map information.
  • the self-position detection unit 140 detects (calculates) the self-position by using the sensor data acquired by the sensor data acquisition unit 110 and the map information acquired by the map information acquisition unit 120 (step S102). That is, the self-position detection unit 140 detects the position of the autonomous traveling vacuum cleaner 100 in a predetermined space (map 300). At this time, the self-position detecting unit 140 repeatedly detects the self-position while the autonomous traveling type vacuum cleaner 100 is running, for example.
  • the plan generation unit 150 uses the self-position calculated in step S102, the map information, and the cleaning information 171 acquired in step S101 to determine whether the autonomous traveling type vacuum cleaner 100 is located in the carpet area. It is determined whether or not (step S103).
  • the plan generation unit 150 sets the traveling pattern for the carpet area as the planning information (step S104). ). That is, when the plan generation unit 150 determines that the autonomous traveling type vacuum cleaner 100 is located in the carpet area based on the detected self-position, the plan generation unit 150 plans for the carpet area based on the cleaning information 171 and the map information. Generate information.
  • the traveling pattern for the carpet region is a traveling route of the autonomous traveling type vacuum cleaner 100 in the carpet region. Specifically, the autonomous traveling type vacuum cleaner 100 travels in a comb shape, for example, in the carpet region, and travels in a bow shape, for example, in a region other than the carpet region.
  • the comb-shaped traveling refers to traveling when the traveling route of the outward route and the traveling route is the same when the autonomous traveling type vacuum cleaner 100 reciprocates.
  • the bow-shaped traveling means traveling when the traveling routes of the outward route and the returning route are different when the autonomous traveling type vacuum cleaner 100 reciprocates.
  • step S104 the plan generation unit 150 recalculates the traveling route as the traveling pattern for the carpet area so that the autonomous traveling type vacuum cleaner 100 travels in a comb shape.
  • FIG. 9 is a diagram showing a first example of a cleaning pattern in a non-carpeted region (non-carpet region 400) of the autonomous traveling vacuum cleaner 100 according to the present embodiment.
  • FIG. 9 is a perspective view of the non-carpet region 400 shown with hatching when viewed from diagonally above.
  • FIG. 10 is a diagram showing a first example of a cleaning pattern in a region (carpet region 401) where the carpet mesh of the autonomous traveling type vacuum cleaner 100 is aligned.
  • FIG. 10 is a perspective view of the carpet region 401 shown with hatching when viewed from diagonally above.
  • control unit 160 drives the drive unit 190 while driving the suction unit 180 to suck dust in the non-carpet region 400 determined by the plan generation unit 150, and autonomously travels.
  • the mold vacuum cleaner 100 is run in a bow shape.
  • control unit 160 drives the suction unit 180 along the direction of the carpet mesh by driving the autonomous traveling type vacuum cleaner 100 in the region determined by the plan generation unit 150 to be the carpet region 401.
  • the drive unit 190 is driven to run while sucking dust.
  • the direction of the carpet mesh is the same as the direction in which the autonomous traveling type vacuum cleaner 100 travels when sucking, as shown in FIG.
  • the control unit 160 does not drive the suction unit 180 when the autonomous traveling type vacuum cleaner 100 is traveling in a direction different from the carpet stitch in the region determined by the plan generation unit 150 to be the carpet region 401.
  • the direction different from the above-mentioned carpet stitch is a direction different from the traveling direction (broken line arrow) of the autonomous traveling type vacuum cleaner 100 when sucking, as shown in FIG.
  • the autonomous traveling type vacuum cleaner 100 of the present embodiment has a first traveling mode showing a traveling pattern when traveling in the carpet region 401 and a non-carpet region 400 other than the carpet region 401. It has a second running mode that shows a running pattern. Then, the autonomous traveling type vacuum cleaner 100 switches the mode and travels based on the self-position, the map information, and the cleaning information 171 (more specifically, the area information 173 and the orientation information 174 shown in FIG. 6). To do. Specifically, for example, when the non-carpet area 400 is driven by the autonomous traveling type vacuum cleaner 100, the plan generation unit 150 generates the planning information for causing the autonomous traveling type vacuum cleaner 100 to travel in a bow shape.
  • the bow-shaped traveling means traveling in a zigzag manner and causing the autonomous traveling vacuum cleaner 100 to perform a suction operation when moving forward.
  • the plan generation unit 150 when the carpet area 401 is driven by the autonomous traveling type vacuum cleaner 100, the plan generation unit 150 generates the planning information for the autonomous traveling type vacuum cleaner 100 to perform a comb-shaped traveling.
  • the comb-shaped traveling means that the autonomous traveling type vacuum cleaner 100 is operated by suction only in the same direction.
  • the type of running pattern is not limited to the above-mentioned bow-shaped running and comb-shaped running.
  • the carpet region 401 may orbit a predetermined space so as to travel in only one direction according to the direction of the carpet mesh.
  • the autonomous traveling type vacuum cleaner 100 executes the cleaning operation in the cleaning pattern shown in the first example.
  • FIG. 11 is a diagram showing a second example of a cleaning pattern in a region where the autonomous traveling type vacuum cleaner 100 according to the present embodiment aligns the carpet mesh.
  • the plan generation unit 150 generates plan information for running the autonomous traveling type vacuum cleaner 100 only in the direction of the carpet mesh in the carpet area 401. Then, the plan generation unit 150 generates plan information for the autonomous traveling type vacuum cleaner 100 to arbitrarily travel in the area other than the carpet area 401. That is, the plan generation unit 150 generates plan information that causes the control unit 160 to control the drive unit 190 so that the autonomous traveling type vacuum cleaner 100 orbits in a predetermined space, for example.
  • the plan generation unit 150 may include the non-carpet region 400 in the traveling route and recalculate the traveling route.
  • the autonomous traveling type vacuum cleaner 100 determines one route traveling in the direction opposite to the carpet stitch in the carpet area 401, orbits in the carpet area 401 using the determined location and route, and finally, The route may be run according to the direction of the carpet.
  • the autonomous traveling type vacuum cleaner 100 executes the cleaning operation in the cleaning pattern shown in the second example.
  • FIG. 12 is a diagram showing a third example of a cleaning pattern in the area where the carpets of the autonomous traveling type vacuum cleaner 100 according to the present embodiment are aligned. Note that FIG. 12 shows an enlarged view of the carpet area 401 of the map 300 shown in FIG.
  • the plan generation unit 150 first determines in the carpet region 401 a reverse route (reverse route region 402) that travels in the direction opposite to the direction of the carpet stitch, and causes the carpet region 401 to travel in the reverse route. Generate planning information. Further, the plan generation unit 150 plans to travel and clean the parts other than the reverse route in the carpet area 401 in the same direction as the direction of the carpet eyes, and travel and clean the parts other than the reverse route in the carpet area 401. Generate information. Then, the plan generation unit 150 then generates plan information for traveling the reverse route in the same direction as the direction of the carpet. At this time, the plan generation unit 150 generates the plan information for causing the control unit 160 to control the drive unit 190, the suction unit 180, and the cleaning unit 200, together with the plan information for running the autonomous traveling type vacuum cleaner 100.
  • a reverse route reverse route region 402
  • the plan generation unit 150 plans to travel and clean the parts other than the reverse route in the carpet area 401 in the same direction as the direction of the carpet eyes, and travel and
  • the control unit 160 drives the drive unit 190 based on the plan information generated above.
  • the autonomous traveling type vacuum cleaner 100 first travels on the first path 500 indicated by the solid line arrow in FIG.
  • the autonomous traveling type vacuum cleaner 100 is made to travel on the second path 501 indicated by the alternate long and short dash arrow in FIG.
  • the autonomous traveling type vacuum cleaner 100 is run and cleaned in the same direction as the direction of the carpet eyes, and as a result, the direction of the carpet eyes is changed in the carpet area 401. Can be aligned.
  • the plan generation unit 150 generates the plan information for determining the direction of the carpet grain and the reverse route traveling in the opposite direction in the carpet area 401. Then, the plan generation unit 150 causes the autonomous traveling type vacuum cleaner 100 to travel on the reverse route and to travel the portion other than the reverse route in the carpet area 401 in the same direction as the direction of the carpet to clean the carpet area 401. Generate planning information. Further, the plan generation unit 150 travels a portion other than the reverse route in the carpet area 401 to clean it, and then travels the reverse route in the same direction as the direction of the carpet to clean the carpet area 401. Generate.
  • the autonomous traveling type vacuum cleaner 100 executes the cleaning operation in the cleaning pattern shown in the third example.
  • the plan generation unit 150 determines whether or not the direction of the carpet stitch and the direction in which the autonomous traveling type vacuum cleaner 100 travels match (step S105).
  • the suction motor 181 is set to rotate (step S106). That is, the suction motor 181 is rotated to drive the autonomous traveling type vacuum cleaner 100.
  • the suction motor 181 is set not to rotate (No). Step S107). That is, the suction motor 181 is stopped to drive the autonomous traveling type vacuum cleaner 100.
  • the plan generation unit 150 determines whether or not the direction of the carpet mesh and the direction in which the autonomous traveling type vacuum cleaner 100 advances in the carpet area 401 of the autonomous traveling type vacuum cleaner 100 match (step S105). ) Generate planning information. Then, when it is determined that they match (Yes in step S105), the plan generation unit 150 generates the plan information to be sucked by the suction unit 180 (step S106). On the other hand, when it is determined that they do not match (No in step S105), the plan generation unit 150 generates the plan information so that the suction unit 180 does not suck (step S107).
  • control unit 160 controls the suction unit 180, the drive unit 190, and the cleaning unit 200 to clean the suction unit 180, the drive unit 190, and the cleaning unit 200 based on the setting contents (that is, the plan information) of the plan generation unit 150 in step S106 or step S107.
  • the running is executed (step S108). Specifically, in step S108, the control unit 160 drives the drive unit 190 to move the autonomous traveling type vacuum cleaner 100 by a predetermined moving distance (for example, 30 cm) according to the traveling path.
  • the predetermined moving distance may be arbitrarily determined in advance, and may be further stored in the storage unit 170.
  • the plan generation unit 150 determines whether or not the cleaning in the predetermined area is completed (step S109). Specifically, the plan generation unit 150 determines whether or not the travel path calculated by the autonomous traveling type vacuum cleaner 100 has been completed. That is, it is determined whether or not the autonomous traveling type vacuum cleaner 100 has completed cleaning in the predetermined area.
  • step S109 when the plan generation unit 150 determines that the cleaning in the predetermined area is not completed (No in step S109), the process returns to step S102 and the cleaning run in the predetermined space is continued.
  • the control unit 160 controls the drive unit 190 to a predetermined position such as a charger (not shown). , The autonomous traveling type vacuum cleaner 100 is moved to finish the cleaning.
  • the timing at which the above-mentioned autonomous traveling type vacuum cleaner 100 determines the traveling pattern when cleaning the carpet area 401 is not particularly limited.
  • the plan generation unit 150 when calculating the travel route of the entire predetermined space, the plan generation unit 150 generates plan information indicating the travel route and the cleaning mode of the entire predetermined area including the travel route and the cleaning mode in the carpet area 401. May be good.
  • the timing at which the autonomous traveling type vacuum cleaner 100 travels and cleans the carpet area 401 in a predetermined traveling pattern is not particularly limited.
  • the autonomous traveling type vacuum cleaner 100 may travel and clean the carpet area 401 while cleaning a predetermined space.
  • the autonomous traveling type vacuum cleaner 100 may travel and clean the entire predetermined space, and then further travel and clean the carpet area 401 based on the cleaning information 171. That is, the plan generation unit 150 causes the autonomous traveling type vacuum cleaner 100 to travel the entire predetermined space for cleaning, and then, based on the cleaning information 171, travels the carpet area 401 to generate the planning information for cleaning. You may.
  • the autonomous traveling type vacuum cleaner 100 is an autonomous traveling type vacuum cleaner that autonomously travels and cleans a predetermined space.
  • the autonomous traveling type vacuum cleaner 100 is arranged in a main body 10 having a suction port 11 on the bottom surface, a suction portion 180 arranged in the main body 10 and sucking dust through the suction port 11, and autonomously arranged in the main body 10.
  • a drive unit 190 for traveling the traveling vacuum cleaner 100 and a cleaning unit 200 for driving a brush for collecting dust (for example, a main brush 50) are provided.
  • the autonomous traveling type vacuum cleaner 100 includes a cleaning information acquisition unit 130 for acquiring cleaning information 171 which is information on the carpet grain of the carpet arranged in the predetermined space, and the autonomous traveling type vacuum cleaner 100 in the predetermined space. It includes a self-position detection unit 140 that detects a position, and a map information acquisition unit 120 that acquires map information indicating a map 300 of a predetermined space. Further, the autonomous traveling type vacuum cleaner 100 controls the suction unit 180, the driving unit 190, and the cleaning unit 200 based on the cleaning information 171 and the self-position and the map information to travel in a predetermined space. A control unit 160 for cleaning is provided.
  • the control unit 160 controls the traveling path and the suction unit 180 so that the carpet located in the predetermined space is different from the position other than the carpet based on the cleaning information 171. Etc. can be changed. That is, the control unit 160 appropriately controls the traveling path and the suction unit 180 based on the cleaning information 171. As a result, it is possible to realize an autonomous traveling type vacuum cleaner 100 that can clean the carpets arranged in a predetermined space so that the carpets are aligned.
  • the autonomous traveling type vacuum cleaner 100 shows a control mode of the suction unit 180, the drive unit 190, and the cleaning unit 200 based on the cleaning information 171 and the self-position and the map information.
  • a plan generation unit 150 for generating plan information is further provided.
  • the control unit 160 preferably controls the suction unit 180, the drive unit 190, and the cleaning unit 200 based on the plan information generated by the plan generation unit 150.
  • control unit 160 controls the suction unit 180, the drive unit 190, and the cleaning unit 200 based on the planning information.
  • the autonomous traveling type vacuum cleaner 100 can be run and cleaned so that the carpets of the carpets arranged in the predetermined space are aligned.
  • the cleaning information 171 includes area information 173 regarding the carpet area where the carpet is located in a predetermined space, and orientation information 174 indicating the direction of the carpet eyes. Then, the plan generation unit 150 determines whether or not the direction of the carpet mesh and the direction in which the autonomous traveling type vacuum cleaner 100 advances in the carpet region of the autonomous traveling type vacuum cleaner 100 match, and if it determines that they match. In the above, it is preferable to have a structure in which the suction unit 180 sucks and if it is determined that they do not match, the suction unit 180 does not suck the plan information.
  • control unit 160 controls the suction unit 180 according to the direction of the carpet mesh based on the plan information.
  • control unit 160 can be made to clean by the autonomous traveling type vacuum cleaner 100 so that the carpet meshes are neatly aligned according to the direction of the carpet meshes.
  • the plan generation unit 150 when the plan generation unit 150 causes the autonomous traveling vacuum cleaner 100 to travel other than the carpet region 401 (non-carpet region 400), the plan generation unit 150 provides the planning information for the autonomous traveling vacuum cleaner 100 to travel in a bow shape. Generate. Further, when the carpet area 401 is driven by the autonomous traveling type vacuum cleaner 100, the plan generation unit 150 preferably generates the planning information for the autonomous traveling type vacuum cleaner 100 to perform a comb-shaped traveling.
  • the control unit 160 causes the autonomous traveling type vacuum cleaner 100 to perform cleaning traveling without a gap in the carpet area 401 according to the direction of the carpet mesh. As a result, the carpet area 401 can be cleaned without omission. Further, the control unit 160 causes the autonomous traveling vacuum cleaner 100 to perform a bow-shaped traveling in the non-carpet region 400, which is an region other than the carpet region 401. As a result, in the non-carpet area 400, the autonomous traveling type vacuum cleaner 100 can be cleaned more quickly than in the case of comb-shaped traveling.
  • the plan generation unit 150 generates the plan information for driving the autonomous traveling type vacuum cleaner 100 only in the direction of the carpet in the carpet area 401.
  • the control unit 160 travels in the carpet area 401 without being sucked by the autonomous traveling type vacuum cleaner 100. As a result, it is possible to prevent the carpet from being left with marks of the wheels 20 and the like.
  • the plan generation unit 150 determines in the carpet region 401 a reverse route (reverse route region 402) that travels in the direction opposite to the direction of the carpet stitch, and the autonomous traveling vacuum cleaner 100. , (I) The plan information for cleaning is generated by traveling the reverse route and traveling the portion other than the reverse route in the carpet area 401 in the same direction as the direction of the carpet. Further, the plan generation unit 150 plans to run a portion other than the reverse path in the carpet area 401 to clean it, and then (ii) run the reverse path in the same direction as the direction of the carpet to clean it. A configuration that generates information is preferred.
  • control unit 160 can reduce non-sucking travel in the carpet region 401 without lengthening the travel path such as laps.
  • the autonomous traveling type vacuum cleaner 100 can suppress the marks of the wheels 20 and the like on the carpet, and can be cleaned in a short time.
  • the plan generation unit 150 causes the autonomous traveling type vacuum cleaner 100 to travel the entire predetermined space for cleaning, and then causes the carpet area 401 to travel based on the cleaning information 171.
  • a configuration that generates planning information for cleaning is preferable.
  • the control unit 160 cleans the suction unit 180, the drive unit 190, and the cleaning unit 200 while changing the control contents many times. It is possible to suppress running. As a result, the control content of the cleaning unit 200 can be simplified.
  • control method of the autonomous traveling type vacuum cleaner 100 is a control method of the autonomous traveling type vacuum cleaner 100 that autonomously travels and cleans a predetermined space.
  • the control method of the autonomous traveling type vacuum cleaner 100 includes a cleaning information acquisition step (step S101) for acquiring cleaning information 171 which is information on the carpet eyes of the carpet arranged in a predetermined space, and a self of the autonomous traveling type vacuum cleaner 100.
  • the self-position detection step (step S102) for detecting the position is included.
  • the control method of the autonomous traveling type vacuum cleaner 100 is based on a map information acquisition step (step S101) for acquiring map information indicating a map 300 of a predetermined space, cleaning information 171 and self-position, and map information. Therefore, a configuration including a control step (step S108) for causing the autonomous traveling type vacuum cleaner 100 to travel in a predetermined space for cleaning is preferable.
  • the traveling route, the control of the suction unit 180, and the like so as to be different from the positions other than the carpet for the carpet located in the predetermined space.
  • the traveling path, the control of the suction unit 180, and the like can be appropriately set, and the carpet can be cleaned so as to be aligned.
  • the present invention may be realized as a program for causing a computer to execute the steps included in the control method of the autonomous traveling vacuum cleaner 100.
  • the program according to the present invention is a program for causing a computer to execute a control method of an autonomous traveling type vacuum cleaner 100 that autonomously travels in a predetermined space.
  • the program includes a cleaning information acquisition step (step S101) for acquiring cleaning information 171 which is information on the carpet grain of the carpet arranged in a predetermined space, and a self-position detection step for detecting the self-position of the autonomous traveling vacuum cleaner 100. (Step S102) is included.
  • the program is based on the map information acquisition step (step S101) for acquiring the map information indicating the map 300 of the predetermined space, the cleaning information 171 and the self-position, and the map information, and the autonomous traveling type vacuum cleaner 100 Includes a control step (step S107) for running and cleaning.
  • the program is then configured to cause the computer to perform each step.
  • the present invention may be realized as a non-temporary recording medium such as a CD-ROM that can be read by a computer that records the above program. Further, the present invention may be realized as information, data or a signal indicating the above program. The program, information, data and signal may be distributed via a communication network such as the Internet.
  • the autonomous traveling vacuum cleaner has been described as an example of a configuration including a storage unit for storing a database of obstacles and a database of traveling patterns, but the present invention is not limited to this.
  • the database of obstacles and the database of traveling patterns may be stored in, for example, an obstacle management unit such as a server device capable of communicating with an autonomous traveling vacuum cleaner.
  • the autonomous traveling vacuum cleaner includes, for example, a communication interface such as a wireless communication circuit for communicating with the server device.
  • the obstacle management unit may update the number of times information included in the obstacle database, for example, via the communication interface.
  • the plan generation unit may acquire the information included in the obstacle database and the travel pattern database via the communication interface to generate the plan information.
  • each of the processing units such as the plan generation unit 150 and the control unit 160 included in the autonomous traveling vacuum cleaner 100 is realized by the CPU and the control program
  • the components of each processing unit may be composed of, for example, one or a plurality of electronic circuits, respectively.
  • the one or more electronic circuits may be general-purpose circuits or dedicated circuits, respectively.
  • One or more electronic circuits may include, for example, a semiconductor device, an IC (Integrated Circuit), an LSI (Large Scale Integration), or the like. Further, the IC or LSI may be integrated on one chip or a plurality of chips.
  • the IC or LSI is called differently depending on, for example, the degree of integration. That is, the IC or LSI includes a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). Further, an FPGA (Field Programmable Gate Array) programmed after manufacturing the LSI can also be used as a processing unit for the same purpose.
  • general or specific aspects of the present invention may be realized by a system, an apparatus, a method, an integrated circuit or a computer program. Alternatively, it may be realized by a computer-readable non-temporary recording medium such as an optical disk in which a computer program is stored, an HDD (Hard Disk Drive), or a semiconductor memory. In addition, general or specific aspects of the present invention may be realized by arbitrarily combining systems, devices, methods, integrated circuits, computer programs, recording media, and the like.
  • the present invention can be widely used for an autonomous traveling type vacuum cleaner that cleans while moving autonomously.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un dispositif de nettoyage à déplacement autonome (100) comprenant une partie de corps principal, une partie d'aspiration (180) qui aspire les ordures, une partie d'entraînement (190) qui amène le dispositif de nettoyage à déplacement autonome (100) à se déplacer, et une partie de nettoyage (200) qui entraîne une brosse. Le dispositif de nettoyage à déplacement autonome (100) comprend en outre une unité d'acquisition d'informations de nettoyage (130) qui acquiert des informations de nettoyage (171) se rapportant au grain de tapis d'un tapis, une unité de détection de position locale (140) qui détecte la position locale du dispositif, et une unité d'acquisition d'informations de carte (120) qui acquiert des informations de carte. Le dispositif de nettoyage à déplacement autonome (100) comprend en outre une unité de commande (160) qui commande la partie d'aspiration (180), la partie d'entraînement (190), et la partie de nettoyage (200) sur la base des informations de nettoyage (171), de la position locale et des informations de carte pour amener le dispositif de nettoyage à déplacement autonome (100) à se déplacer et à nettoyer. Ainsi, il est possible de fournir un dispositif de nettoyage à déplacement autonome (100) qui nettoie de telle sorte que le grain de tapis est aligné.
PCT/JP2020/029262 2019-08-22 2020-07-30 Dispositif de nettoyage à déplacement autonome, procédé de commande de dispositif de nettoyage à déplacement autonome et programme WO2021033513A1 (fr)

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JP2019-151787 2019-08-22
JP2019151787A JP7349624B2 (ja) 2019-08-22 2019-08-22 自律走行型掃除機、自律走行型掃除機の制御方法、及び、プログラム

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03106319A (ja) * 1989-09-20 1991-05-02 Matsushita Electric Ind Co Ltd 自走式掃除機
JPH0584166A (ja) * 1991-09-30 1993-04-06 Matsushita Electric Ind Co Ltd 自走式掃除機の床ノズル
JP2003079551A (ja) * 2001-09-17 2003-03-18 Toshiba Tec Corp 電気掃除機
WO2017141536A1 (fr) * 2016-02-16 2017-08-24 東芝ライフスタイル株式会社 Corps de déplacement autonome
JP2018196512A (ja) * 2017-05-23 2018-12-13 東芝ライフスタイル株式会社 電気掃除機

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03106319A (ja) * 1989-09-20 1991-05-02 Matsushita Electric Ind Co Ltd 自走式掃除機
JPH0584166A (ja) * 1991-09-30 1993-04-06 Matsushita Electric Ind Co Ltd 自走式掃除機の床ノズル
JP2003079551A (ja) * 2001-09-17 2003-03-18 Toshiba Tec Corp 電気掃除機
WO2017141536A1 (fr) * 2016-02-16 2017-08-24 東芝ライフスタイル株式会社 Corps de déplacement autonome
JP2018196512A (ja) * 2017-05-23 2018-12-13 東芝ライフスタイル株式会社 電気掃除機

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